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  <div class="summary">
<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1keypoints_1_1brisk_1_1_layer-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::keypoints::brisk::Layer类 参考</div>  </div>
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<p>A layer in the BRISK detector pyramid.  
 <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1keypoints_1_1brisk_1_1_layer_1_1_common_params.html">CommonParams</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:adb833564713a5837e11a436c5eb053ac"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#adb833564713a5837e11a436c5eb053ac">Layer</a> (const std::vector&lt; unsigned char &gt; &amp;img, int width, int height, float scale=1.0f, float offset=0.0f)</td></tr>
<tr class="memdesc:adb833564713a5837e11a436c5eb053ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#adb833564713a5837e11a436c5eb053ac">更多...</a><br /></td></tr>
<tr class="separator:adb833564713a5837e11a436c5eb053ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04d7229cbe18a5d679ff08a54b53af36"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a04d7229cbe18a5d679ff08a54b53af36">Layer</a> (const <a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">Layer</a> &amp;layer, int mode)</td></tr>
<tr class="memdesc:a04d7229cbe18a5d679ff08a54b53af36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor for deriving a layer.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a04d7229cbe18a5d679ff08a54b53af36">更多...</a><br /></td></tr>
<tr class="separator:a04d7229cbe18a5d679ff08a54b53af36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6dcdd084c4a475e4be954eec6e9c88c8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a6dcdd084c4a475e4be954eec6e9c88c8">getAgastPoints</a> (uint8_t threshold, std::vector&lt; <a class="el" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a> &gt; &gt; &amp;keypoints)</td></tr>
<tr class="memdesc:a6dcdd084c4a475e4be954eec6e9c88c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">AGAST keypoints without non-max suppression.  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a6dcdd084c4a475e4be954eec6e9c88c8">更多...</a><br /></td></tr>
<tr class="separator:a6dcdd084c4a475e4be954eec6e9c88c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a676819d549757a6052070569813242dc"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a676819d549757a6052070569813242dc">getAgastScore</a> (int x, int y, uint8_t threshold)</td></tr>
<tr class="memdesc:a676819d549757a6052070569813242dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the AGAST keypoint score for a given pixel using a threshold  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a676819d549757a6052070569813242dc">更多...</a><br /></td></tr>
<tr class="separator:a676819d549757a6052070569813242dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa4fa82ca009a6611c6818657936fa86"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aaa4fa82ca009a6611c6818657936fa86">getAgastScore_5_8</a> (int x, int y, uint8_t threshold)</td></tr>
<tr class="memdesc:aaa4fa82ca009a6611c6818657936fa86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the AGAST keypoint score for a given pixel using a threshold  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aaa4fa82ca009a6611c6818657936fa86">更多...</a><br /></td></tr>
<tr class="separator:aaa4fa82ca009a6611c6818657936fa86"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89f3ef52a9cf000202b5efc894a0cf97"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a89f3ef52a9cf000202b5efc894a0cf97">getAgastScore</a> (float xf, float yf, uint8_t threshold, float scale=1.0f)</td></tr>
<tr class="memdesc:a89f3ef52a9cf000202b5efc894a0cf97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the AGAST keypoint score for a given pixel using a threshold  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a89f3ef52a9cf000202b5efc894a0cf97">更多...</a><br /></td></tr>
<tr class="separator:a89f3ef52a9cf000202b5efc894a0cf97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48e0ae0132c01eb7be56e463d4eaf505"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a48e0ae0132c01eb7be56e463d4eaf505">getValue</a> (const std::vector&lt; unsigned char &gt; &amp;mat, int width, int height, float xf, float yf, float scale)</td></tr>
<tr class="memdesc:a48e0ae0132c01eb7be56e463d4eaf505"><td class="mdescLeft">&#160;</td><td class="mdescRight">Access gray values (smoothed/interpolated)  <a href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a48e0ae0132c01eb7be56e463d4eaf505">更多...</a><br /></td></tr>
<tr class="separator:a48e0ae0132c01eb7be56e463d4eaf505"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a548c841bbb0e482c7f28a48ae2eb06eb"><td class="memItemLeft" align="right" valign="top"><a id="a548c841bbb0e482c7f28a48ae2eb06eb"></a>
const std::vector&lt; unsigned char &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a548c841bbb0e482c7f28a48ae2eb06eb">getImage</a> () const</td></tr>
<tr class="memdesc:a548c841bbb0e482c7f28a48ae2eb06eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the image used. <br /></td></tr>
<tr class="separator:a548c841bbb0e482c7f28a48ae2eb06eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1959f331288d2458d9df288d97e6489"><td class="memItemLeft" align="right" valign="top"><a id="aa1959f331288d2458d9df288d97e6489"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa1959f331288d2458d9df288d97e6489">getImageWidth</a> () const</td></tr>
<tr class="memdesc:aa1959f331288d2458d9df288d97e6489"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the width of the image used. <br /></td></tr>
<tr class="separator:aa1959f331288d2458d9df288d97e6489"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe4734c242fd0e139b63d8c2b63a5729"><td class="memItemLeft" align="right" valign="top"><a id="abe4734c242fd0e139b63d8c2b63a5729"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#abe4734c242fd0e139b63d8c2b63a5729">getImageHeight</a> () const</td></tr>
<tr class="memdesc:abe4734c242fd0e139b63d8c2b63a5729"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the height of the image used. <br /></td></tr>
<tr class="separator:abe4734c242fd0e139b63d8c2b63a5729"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad300072c06318efcdfa78c8e7bbbacc8"><td class="memItemLeft" align="right" valign="top"><a id="ad300072c06318efcdfa78c8e7bbbacc8"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#ad300072c06318efcdfa78c8e7bbbacc8">getScale</a> () const</td></tr>
<tr class="memdesc:ad300072c06318efcdfa78c8e7bbbacc8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the scale used. <br /></td></tr>
<tr class="separator:ad300072c06318efcdfa78c8e7bbbacc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3899d35a6e24b1dcf6ba02c0f70b4f09"><td class="memItemLeft" align="right" valign="top"><a id="a3899d35a6e24b1dcf6ba02c0f70b4f09"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a3899d35a6e24b1dcf6ba02c0f70b4f09">getOffset</a> () const</td></tr>
<tr class="memdesc:a3899d35a6e24b1dcf6ba02c0f70b4f09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the offset used. <br /></td></tr>
<tr class="separator:a3899d35a6e24b1dcf6ba02c0f70b4f09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a895bde3e39ba55201a5870b69717db7b"><td class="memItemLeft" align="right" valign="top"><a id="a895bde3e39ba55201a5870b69717db7b"></a>
const std::vector&lt; unsigned char &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a895bde3e39ba55201a5870b69717db7b">getScores</a> () const</td></tr>
<tr class="memdesc:a895bde3e39ba55201a5870b69717db7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the scores obtained. <br /></td></tr>
<tr class="separator:a895bde3e39ba55201a5870b69717db7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a8da7123b7a0ef8671da0d7e8b1feb04c"><td class="memItemLeft" align="right" valign="top"><a id="a8da7123b7a0ef8671da0d7e8b1feb04c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>halfsample</b> (const std::vector&lt; unsigned char &gt; &amp;srcimg, int srcwidth, int srcheight, std::vector&lt; unsigned char &gt; &amp;dstimg, int dstwidth, int dstheight)</td></tr>
<tr class="separator:a8da7123b7a0ef8671da0d7e8b1feb04c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5d495829c848c0d8c24973ed4613615"><td class="memItemLeft" align="right" valign="top"><a id="af5d495829c848c0d8c24973ed4613615"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>twothirdsample</b> (const std::vector&lt; unsigned char &gt; &amp;srcimg, int srcwidth, int srcheight, std::vector&lt; unsigned char &gt; &amp;dstimg, int dstwidth, int dstheight)</td></tr>
<tr class="separator:af5d495829c848c0d8c24973ed4613615"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a92e89b812dd1b5e02bf10cf26cbb998b"><td class="memItemLeft" align="right" valign="top">std::vector&lt; unsigned char &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a92e89b812dd1b5e02bf10cf26cbb998b">img_</a></td></tr>
<tr class="separator:a92e89b812dd1b5e02bf10cf26cbb998b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ae44a15a80ae8af38485bc531f1d5e5"><td class="memItemLeft" align="right" valign="top"><a id="a6ae44a15a80ae8af38485bc531f1d5e5"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>img_width_</b></td></tr>
<tr class="separator:a6ae44a15a80ae8af38485bc531f1d5e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2120bdd57b52b9a6252dea43cd19dda"><td class="memItemLeft" align="right" valign="top"><a id="ac2120bdd57b52b9a6252dea43cd19dda"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>img_height_</b></td></tr>
<tr class="separator:ac2120bdd57b52b9a6252dea43cd19dda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab3b7ecf8a4805fee3ebd4611da19ec8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; unsigned char &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aab3b7ecf8a4805fee3ebd4611da19ec8">scores_</a></td></tr>
<tr class="separator:aab3b7ecf8a4805fee3ebd4611da19ec8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53dce45aaefd721485b4b3c11087ae67"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#a53dce45aaefd721485b4b3c11087ae67">scale_</a></td></tr>
<tr class="separator:a53dce45aaefd721485b4b3c11087ae67"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70663cb18af5a795dfb25c55ec9dc6bb"><td class="memItemLeft" align="right" valign="top"><a id="a70663cb18af5a795dfb25c55ec9dc6bb"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>offset_</b></td></tr>
<tr class="separator:a70663cb18af5a795dfb25c55ec9dc6bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3f5b50a469652850c8e9b1e451f315e"><td class="memItemLeft" align="right" valign="top">boost::shared_ptr&lt; <a class="el" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html">pcl::keypoints::agast::OastDetector9_16</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html#aa3f5b50a469652850c8e9b1e451f315e">oast_detector_</a></td></tr>
<tr class="separator:aa3f5b50a469652850c8e9b1e451f315e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2c3d60f57ac7fdbc2eb73009971c749"><td class="memItemLeft" align="right" valign="top"><a id="af2c3d60f57ac7fdbc2eb73009971c749"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html">pcl::keypoints::agast::AgastDetector5_8</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>agast_detector_5_8_</b></td></tr>
<tr class="separator:af2c3d60f57ac7fdbc2eb73009971c749"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>A layer in the BRISK detector pyramid. </p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="adb833564713a5837e11a436c5eb053ac"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adb833564713a5837e11a436c5eb053ac">&#9670;&nbsp;</a></span>Layer() <span class="overload">[1/2]</span></h2>

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      <table class="memname">
        <tr>
          <td class="memname">pcl::keypoints::brisk::Layer::Layer </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; unsigned char &gt; &amp;&#160;</td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>scale</em> = <code>1.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>offset</em> = <code>0.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">img</td><td>input image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>image width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>image height </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>scale </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>offset </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a04d7229cbe18a5d679ff08a54b53af36">&#9670;&nbsp;</a></span>Layer() <span class="overload">[2/2]</span></h2>

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          <td class="memname">pcl::keypoints::brisk::Layer::Layer </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">Layer</a> &amp;&#160;</td>
          <td class="paramname"><em>layer</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>mode</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Copy constructor for deriving a layer. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">layer</td><td>layer to derive from </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mode</td><td>deriving mode </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a6dcdd084c4a475e4be954eec6e9c88c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6dcdd084c4a475e4be954eec6e9c88c8">&#9670;&nbsp;</a></span>getAgastPoints()</h2>

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          <td class="memname">void pcl::keypoints::brisk::Layer::getAgastPoints </td>
          <td>(</td>
          <td class="paramtype">uint8_t&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>keypoints</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>AGAST keypoints without non-max suppression. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the keypoints threshold </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">keypoints</td><td>the AGAST keypoints </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a89f3ef52a9cf000202b5efc894a0cf97"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a89f3ef52a9cf000202b5efc894a0cf97">&#9670;&nbsp;</a></span>getAgastScore() <span class="overload">[1/2]</span></h2>

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          <td class="memname">uint8_t pcl::keypoints::brisk::Layer::getAgastScore </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>xf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>yf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint8_t&#160;</td>
          <td class="paramname"><em>threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>scale</em> = <code>1.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get the AGAST keypoint score for a given pixel using a threshold </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">xf</td><td>the X coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">yf</td><td>the Y coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold to use for cutting the response </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>the scale </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a676819d549757a6052070569813242dc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a676819d549757a6052070569813242dc">&#9670;&nbsp;</a></span>getAgastScore() <span class="overload">[2/2]</span></h2>

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          <td class="memname">uint8_t pcl::keypoints::brisk::Layer::getAgastScore </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint8_t&#160;</td>
          <td class="paramname"><em>threshold</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get the AGAST keypoint score for a given pixel using a threshold </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the U coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the V coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold to use for cutting the response </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="aaa4fa82ca009a6611c6818657936fa86"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaa4fa82ca009a6611c6818657936fa86">&#9670;&nbsp;</a></span>getAgastScore_5_8()</h2>

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          <td class="memname">uint8_t pcl::keypoints::brisk::Layer::getAgastScore_5_8 </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint8_t&#160;</td>
          <td class="paramname"><em>threshold</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Get the AGAST keypoint score for a given pixel using a threshold </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the U coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the V coordinate of the pixel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold to use for cutting the response </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a48e0ae0132c01eb7be56e463d4eaf505"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a48e0ae0132c01eb7be56e463d4eaf505">&#9670;&nbsp;</a></span>getValue()</h2>

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          <td class="memname">uint8_t pcl::keypoints::brisk::Layer::getValue </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; unsigned char &gt; &amp;&#160;</td>
          <td class="paramname"><em>mat</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>xf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>yf</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>scale</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Access gray values (smoothed/interpolated) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mat</td><td>the image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>the image width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>the image height </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">xf</td><td>the x coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">yf</td><td>the y coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>the scale </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">类成员变量说明</h2>
<a id="a92e89b812dd1b5e02bf10cf26cbb998b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a92e89b812dd1b5e02bf10cf26cbb998b">&#9670;&nbsp;</a></span>img_</h2>

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        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>the image </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa3f5b50a469652850c8e9b1e451f315e">&#9670;&nbsp;</a></span>oast_detector_</h2>

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          <td class="memname">boost::shared_ptr&lt;<a class="el" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html">pcl::keypoints::agast::OastDetector9_16</a>&gt; pcl::keypoints::brisk::Layer::oast_detector_</td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
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<p>agast </p>

</div>
</div>
<a id="a53dce45aaefd721485b4b3c11087ae67"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a53dce45aaefd721485b4b3c11087ae67">&#9670;&nbsp;</a></span>scale_</h2>

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          <td class="memname">float pcl::keypoints::brisk::Layer::scale_</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
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<p>coordinate transformation </p>

</div>
</div>
<a id="aab3b7ecf8a4805fee3ebd4611da19ec8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aab3b7ecf8a4805fee3ebd4611da19ec8">&#9670;&nbsp;</a></span>scores_</h2>

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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
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<p>its Fast scores </p>

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</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a></li>
</ul>
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  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>keypoints</b></li><li class="navelem"><b>brisk</b></li><li class="navelem"><a class="el" href="classpcl_1_1keypoints_1_1brisk_1_1_layer.html">Layer</a></li>
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